| Title |
Adaptive Posision-Determination and Dynamic Model Properties Synthesis of Moving Objects With Trajectory Control System (In the Case of Multi-Link Manipulators) |
| Authors |
(Zaripov Oripjon Olimovich) ; (Sevinova Dildora Usmonovna) ; (Bobojanov Sukhrob Gayratovich) |
| DOI |
https://doi.org/10.5370/KIEE.2024.73.3.576 |
| Keywords |
adaptive position control; multi-link manipulator; dynamic model; mathematical model; industrial robot; movement dynamics; kinematic scheme. |
| Abstract |
Characteristics of the dynamic model of moving objects with an adaptive position-trajectory control system. In the example of industrial robots, many technological operations are determined by the combination of forces, accelerations, speeds, positions and directions possible in the processes of interaction of the working body with objects. In the case of multi-link manipulators of moving objects, in determining and synthesizing the characteristics of the dynamic model, in the process of determining the position of the manipulator, the accuracy of the absolute positions of the links and executive elements relative to each other, the speed of movement in different coordinate systems, angular accelerations and the high accuracy of its mobility are one of the important indicators. In this article, the dynamic characteristics of robots in motion of the type "Efort collaboration robot 5", PUMA and SCARA industrial robots are considered in the determination and synthesis of dynamic model characteristics on the example of multi-link manipulators of moving objects. When determining the characteristics of the dynamic model of multi-link manipulators, mathematical models for calculating the total kinetic energy, potential energy and acceleration of each link in terms of generalized coordinates were considered. Also presented are kinematic schemes that allow determining the inertial characteristics of the level of mobility, the component of Coriolis forces, the forces of gravity and the interaction between all links of the mobility of the manipulator during movement and calculating the levels of mobile movement for the industrial robots "Efort collaboration robot 5" PUMA and SCARA An algorithm for determining the dynamic characteristics of multi-link manipulators has been developed based on the analysis and calculated research results and the presented mathematical models. |